Underwater Robots Motion and Force Control of Vehicle-Manipulator Systems [Paperback]

This book deals with the state of the art in underwater robotics experiments of dynamic control of an underwater vehicle. The author presents experimental results on motion control and fault tolerance to thrusters faults with the autonomous vehicle ODIN. This second substantially improved and expanded edition new features are presented dealing with fault-tolerant control and coordinated control of autonomous underwater vehicles.

Introduction.- Modelling of Underwater Robots.- Dynamic Control of 6-DOF AUVs.- Fault Detection/Tolerance Strategies for AUVs and ROVs.- Experiments of Dynamic Control of a 6-DOF AUV.- Kinematic Control of UVMSs.- Dynamic Control of UVMSs.- Interaction Control of UVMSs.- Coordinated Control of Platoons of AUVs.- Concluding Remarks.

From the reviews:

The book under review is particularly concerned with the control of underwater vehicle/manipulator systems (UVMSs). & The text does a good job of discussing many of the issues particularly to UVMSs. Because of the variety of control algorithms discussed it is perhaps best suited for an experimental researcher searching for a collection of control laws which can be implemented on their system. & wealth of references as well as its comments on issues particular to underwater robotic make it interesting to anyone interested in UVMSs. (Sean Andersson, Automatica, Vol. 42, 2006)

This book deals with underwater robots, their motions, force control and manipulation tasks. & The book contains a wide list of underwater robots (AUVs) control problems. & The author presents natural and digital simulations. & The realization of AUVs is a complex scientific problem of significant importance. And this book is a step forward in studying them. (Yuri N. Sankin, Zentralblatt MATH, Vol. 1049, 2004)

Underwater robotics is a very interesting field of study & . The main aspects & are separately illustrated and investigatedl&